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BOUNDARY CONTROL FOR A GENERAL CLASS OF NON-LINEAR STRING–ACTUATOR SYSTEMS

✍ Scribed by F. ZHANG; D.M. DAWSON; S.P. NAGARKATTI; C.D. RAHN

Publisher
Elsevier Science
Year
2000
Tongue
English
Weight
311 KB
Volume
229
Category
Article
ISSN
0022-460X

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✦ Synopsis

This paper introduces boundary controllers for a general class of non-linear string}actuator systems. The non-linear distributed-parameter model accounts for large amplitude displacement and the associated varying tension according to a general class of non-linear stress}strain relationships. A non-linear, model-based controller asymptotically drives the system energy to zero. Redesign of the controller using adaptation laws allows compensation for parametric uncertainty while asymptotically driving the system energy to zero. Experimental results verify the feasibility of implementing the proposed controllers and compare the performance with damper and linear controllers.

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## Abstract An adaptive compensation control scheme using output feedback is designed and analysed for a class of non‐linear systems with state‐dependent non‐linearities in the presence of unknown actuator failures. For a linearly parameterized model of actuator failures with unknown failure values